How would you design a real time application for cnc control in c / c++ ???

wget https://raw.githubusercontent.com/grotius-cnc/hal-core/main/install_guide
chmod +x install_guide
sudo ./install_guide
sudo chmod -R -f 777 /opt
sudo chown -R $USER /opt
sudo chown -R $USER:$USER /opt

#include "hal.h"
#include "cmainwindow.h"
#include "ui_cmainwindow.h"
#include <QStringList>

 //hal realtime layertypedef struct {hal_float_t *pin;} float_data_t;
 typedef struct {hal_bit_t *pin;} bit_data_t;
 int comp_id = hal_init("gui");
 /*float_data_t *float_data_0 = (float_data_t*)hal_malloc(sizeof(float_data_t));int retval0 = hal_pin_float_new("J2_POS_CMD",HAL_OUT,&cryingfloat_data_0->pin),comp_id);
 float_data_t *float_data_1 = (float_data_t*)hal_malloc(sizeof(float_data_t));int retval1 = hal_pin_float_new("J3_POS_CMD",HAL_OUT,&cryingfloat_data_1->pin),comp_id);*/

 //example to set up bit databit_data_t *bit_data_0 = (bit_data_t*)hal_malloc(sizeof(bit_data_t));int retval01 = hal_pin_bit_new("valve_01",HAL_OUT,&cryingbit_data_0->pin),comp_id);
bit_data_t *bit_data_0 = (bit_data_t*)hal_malloc(sizeof(bit_data_t));int retval02 = hal_pin_bit_new("valve_02",HAL_OUT,&cryingbit_data_0->pin),comp_id);
bit_data_t *bit_data_0 = (bit_data_t*)hal_malloc(sizeof(bit_data_t));int retval03 = hal_pin_bit_new("valve_03",HAL_OUT,&cryingbit_data_0->pin),comp_id);bit_data_t *bit_data_0 = (bit_data_t*)hal_malloc(sizeof(bit_data_t));int retval04 = hal_pin_bit_new("valve_04",HAL_OUT,&cryingbit_data_0->pin),comp_id);bit_data_t *bit_data_0 = (bit_data_t*)hal_malloc(sizeof(bit_data_t));int retval05 = hal_pin_bit_new("valve_05",HAL_OUT,&cryingbit_data_0->pin),comp_id);

bit_data_t *bit_data_0 = (bit_data_t*)hal_malloc(sizeof(bit_data_t));
int retval11 = hal_pin_bit_new("input_01",HAL_IN,&cryingbit_data_0->pin),comp_id);
bit_data_t *bit_data_0 = (bit_data_t*)hal_malloc(sizeof(bit_data_t));
int retval12 = hal_pin_bit_new("input_02",HAL_IN,&cryingbit_data_0->pin),comp_id);
bit_data_t *bit_data_0 = (bit_data_t*)hal_malloc(sizeof(bit_data_t));
int retval13 = hal_pin_bit_new("input_03",HAL_IN,&cryingbit_data_0->pin),comp_id);
bit_data_t *bit_data_0 = (bit_data_t*)hal_malloc(sizeof(bit_data_t));
int retval14 = hal_pin_bit_new("input_04",HAL_IN,&cryingbit_data_0->pin),comp_id);
bit_data_t *bit_data_0 = (bit_data_t*)hal_malloc(sizeof(bit_data_t));
int retval15 = hal_pin_bit_new("input_05",HAL_IN,&cryingbit_data_0->pin),comp_id);

CMainWindow::CMainWindow(QWidget *parent) :
    QMainWindow(parent),
    ui(new Ui::CMainWindow)
{
    ui->setupUi(this);
    m_3d_widget = new C3DWidget(this);
    ui->gridLayout->addWidget(m_3d_widget,0,0);

    //start ethercat..
    system("halcmd \-f robot/Ethercat/ethercat.hal");
    system("halcmd start");
}

CMainWindow::~CMainWindow()
{
    hal_exit(comp_id);
    system("halrun -U"); //this is really important.
    delete ui;
}